ycoeff=[0.15;0.27;-0.43]; %nenner der TF = [1,-ycoeff]
ucoeff=[0.73;3;7]; %zaehler der TF

yl=length(ycoeff); %Laenge des y-Koeffizientenvektors
ul=length(ucoeff); %Laenge des u-Koeffizientenvektors

coeff=[ycoeff;ucoeff]; %Kombiniert die Koeffizientenvektoren y und u

t0=0;
f0=0;
tend=30;
omega=5; 

Phi = [0.15,0.27,-0.43; 1,0,0; 0,1,0];
Gamma = [4;0;0];
C = [0.7774,1.799,-0.07848];
D = [ 0.73 ];
G = [ 1, 2; 0, 5; 4, 1];
H = [ 8, 3];
preQ = [3,7;0,1]*10^(-2);
Q = preQ*preQ'; % Q ist Kovarianzmatrix von w, also symmetrisch + pos. definit. preQ = Hilfsmittel dafuer
preR = [10]*10^(-2);
R = preR*preR';
preP0 = [1, 2, 3; 2, 3, 4; 3, 4, 5];
P0 = preP0*preP0.';
mx0 = [0.3;4;-3];

R=spdiags(repmat(ddd,ceil(N/length(ddd)),1),0,N,N);

stepsize=0.01;